Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

An actuator control system includes: a transmission control unit configured to transmit final data, which is a final result of the computation by a sensor output computation unit, and to transmit intermediate data before transmitting the final data; and a command value computation unit configured to compute a command value for driving an actuator, based on the intermediate data and the final data transmitted by the transmission control unit.

Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A memory in which information that is used in a tracking operation is to be temporarily stored, information cannot be accumulated in the memory when the accumulating intervals and the reading intervals do not match each other. A robot control apparatus includes: a memory; an accepting unit that accepts a sensing result of a laser sensor detecting a shape of a working target before an, and accumulates information according to the sensing result, in the memory. The memory management unit that, in a case in which the memory is running short of free space, deletes the information in the memory; and a control unit that moves the working tool based on teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.

Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

A method for remote operation of a robot, preferably including: recording a set of sensor streams; transmitting a transmission stream; selecting a received stream for display; and/or displaying the selected stream. A system, preferably including a robot and a remote operation system connected to the robot by one or more communication networks.

A memory in which information that is used in a tracking operation is to be temporarily stored, information cannot be accumulated in the memory when the accumulating intervals and the reading intervals do not match each other. A robot control apparatus includes: a memory; an accepting unit that accepts a sensing result of a laser sensor detecting a shape of a working target before an, and accumulates information according to the sensing result, in the memory. The memory management unit that, in a case in which the memory is running short of free space, deletes the information in the memory; and a control unit that moves the working tool based on teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A method for remote operation of a robot, preferably including: recording a set of sensor streams; transmitting a transmission stream; selecting a received stream for display; and/or displaying the selected stream. A system, preferably including a robot and a remote operation system connected to the robot by one or more communication networks.